Vehicle control device and vehicle

ABSTRACT

Provided is a vehicle control device mounted on a vehicle including an environment recognition unit and an automatic operation control unit. The environment recognition unit is configured to acquire information on surrounding environment around the vehicle, and provide the automatic operation control unit with the information on the surrounding environment. The automatic operation control unit is configured to acquire select one proposed traveling line, as a target traveling line of the vehicle, from a plurality of proposed traveling lines, on a basis of the information on the surrounding environment, and allow the vehicle to travel along the target traveling line. The vehicle control device is configured to acquire provide display of an image of one or more non-selected traveling lines other than the proposed traveling line selected as the target traveling line from the plurality of proposed traveling lines, together with display of an image of the target traveling line.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority from Japanese Patent ApplicationNo. 2016-071117 filed on Mar. 31, 2016, the entire contents of which arehereby incorporated by reference.

BACKGROUND

The technology relates to a vehicle control device and a vehicleincluding the vehicle control device, e.g., an automobile.

Various proposals have been put forward for display devices in vehiclessuch as automobiles. The display devices may recognize environmentforward of an own vehicle with various kinds of environment recognitionunits, and provide image display of information on, for example but notlimited to, a lane shape and an obstacle.

Moreover, advancement of a function of automatic operation and afunction of driving assistance has brought practical use of techniquesthat allow a vehicle to recognize surrounding situation and to set afuture traveling line of the own vehicle.

Regarding such automatic setting of the traveling line by the vehicle,proposals have been made to use the display devices as mentioned above,in order to assist a user in supervising validity of setting of a targettraveling line. The term “user” refers to, for example but not limitedto, an occupant such as a driver in manual operation.

The following is some examples of existing techniques regarding thedisplay device for the vehicle. Japanese Unexamined Patent ApplicationPublication (JP-A) No. 2006-171950 describes that an estimated course ofan own vehicle and a recommended course to avoid an obstacle aredisplayed on a front windshield, with a head up display.

JP-A No. 2007-272350 describes that a target travelable region of an ownvehicle is displayed with a head up display, and that a position of thetarget travelable region is moved in accordance with a change in avehicle speed.

The following is an example of existing techniques regarding the settingof the traveling line in an automatic operation control. JP-A No.2005-099930 describes a traveling control system that is intended forimprovement in precision of the target traveling line. The travelingcontrol system receives traveling information from a plurality ofvehicles through an information center, and performs a steering controlon the basis of recommended traveling information on the center side.The recommended traveling information is generated on the basis of aplurality of pieces of traveling information received.

SUMMARY

In the vehicle that performs the automatic operation, the user, or theoccupant, may supervise the validity of the setting of the targettraveling line displayed on the display device. Sometimes the targettraveling line set on the vehicle side may differ from a traveling lineassumed by the user, in view of a result of the user's check of aperiphery or the user's experience. In such a case, there is concernthat the user may have a feeling of distrust of the automatic operationcontrol.

It is therefore desirable to provide a vehicle control device that makesit possible to prevent a user from having a feeling of distrust ofautomatic operation control, and a vehicle including the display device.

An aspect of the technology provides a vehicle control device mounted ona vehicle that includes an environment recognition unit and an automaticoperation control unit. The environment recognition unit is configuredto acquire information on surrounding environment around the vehicle,and provide the automatic operation control unit with the information onthe surrounding environment. The automatic operation control unit isconfigured to select one proposed traveling line, as a target travelingline of the vehicle, from a plurality of proposed traveling lines, on abasis of the information on the surrounding environment, and allow thevehicle to travel along the target traveling line. The vehicle controldevice is configured to provide display of an image of one or morenon-selected traveling lines other than the proposed traveling lineselected as the target traveling line from the plurality of proposedtraveling lines, together with display of an image of the targettraveling line.

The vehicle control device may provide display of information on areason for non-selection of the non-selected traveling line.

The vehicle control device may have a function of selecting onenon-selected traveling line as a new target traveling line from the oneor more non-selected traveling lines, in accordance with a change in theinformation on the surrounding environment. The vehicle control devicemay stop providing the display of the image of any non-selectedtraveling line of the one or more non-selected traveling lines, upondiminution of possibility that the relevant non-selected traveling lineis selected as the new target traveling line.

An aspect of the technology provides a vehicle including an environmentrecognition unit, an automatic operation control unit, and a vehiclecontrol device. The environment recognition unit is configured toacquire information on surrounding environment around the vehicle, andprovide the automatic operation control unit with the information on thesurrounding environment. The automatic operation control unit isconfigured to select one proposed traveling line, as a target travelingline of the vehicle, from a plurality of proposed traveling lines, on abasis of the information on the surrounding environment, and allow thevehicle to travel along the target traveling line. The display device isconfigured to provide display of an image of one or more non-selectedtraveling lines other than the proposed traveling line selected as thetarget traveling line from the plurality of proposed traveling lines,together with display of an image of the target traveling line.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. I is a block diagram schematically illustrating a configuration ofa vehicle provided with a vehicle control device according to oneimplementation of the technology.

FIG. 2 schematically illustrates disposition of sensors that recognize aperiphery of the vehicle, in the vehicle according to theimplementation.

FIG. 3 is a flowchart illustrating operation of the vehicle controldevice according to the implementation.

FIG. 4 illustrates one example of display provided by the vehiclecontrol device according to the implementation.

DETAILED DESCRIPTION

A vehicle control device and a vehicle according to one exampleimplementation may provide display of a non-selected traveling line,together with display of a reason for non-selection of the non-selectedtraveling line. The non-selected traveling line may be a traveling linethat has failed in being selected as a target traveling line inautomatic operation control. This makes it possible to alleviate auser's feeling of distrust of setting of the target traveling line inthe automatic operation control.

In the following, some implementations of the technology are describedwith reference to the drawings. The following description of theimplementations is given on a case with a vehicle control device towhich the implementations are applied.

FIG. 1 is a block diagram schematically illustrating a configuration ofa vehicle provided with a vehicle control device according to oneimplementation of the technology.

The vehicle control device according to the implementation may bemounted on, for example but not limited to, a vehicle 1. The vehicle 1may be, without limitation, an automobile such as a passenger car, andhave a function of automatic operation. The vehicle control device mayprovide, without limitation, a user with image display of a targettraveling line, as well as information on an obstacle around an ownvehicle. Non-limiting examples of the user may include a driver inmanual operation. Non-limiting examples of the obstacle may includeanother vehicle.

The user may check a lane shape or the obstacle forward of the ownvehicle, on the basis of the information provided by the vehicle controldevice. In execution of an automatic operation control, the user maysupervise validity of the target traveling line set by the automaticoperation control, on the basis of the information provided by thevehicle control device.

Referring to FIG. 1, the vehicle 1 may include, for example but notlimited to, an engine control unit (ECU) 10, a transmission control unit(TCU) 20, a behavior control unit 30, an electric power steering (EPS)control unit 40, an automatic operation control unit 50, an environmentrecognition unit 60, a stereo camera control unit 70, a laser scannercontrol unit 80, a rear sideward radar control unit 90, a navigationdevice 100, a road-vehicle communication device 110, an inter-vehiclecommunication device 120, an image generation unit 200, and a display210.

Each of the units as mentioned above may be a unit including, forexample but not limited to, an information processor such as a centralprocessing unit (CPU), a storage unit such as a random access memory(RAM) and a read only memory (ROM), an input and output interface, and abus that couples them together. The units may communicate with oneanother through an on-vehicle local area network (LAN) system such as acontroller area network (CAN) communication system.

The engine control unit 10 may perform a general control of an engineand its auxiliaries. The engine may serve as a traveling power source ofthe vehicle 1.

As the engine, for example, a four-stroke gasoline engine may be used.The engine control unit 10 may control, for example but not limited to,throttle valve opening, fuel injection quantity and injection timing,and ignition timing of the engine, to control output torque of theengine.

in a state in which the vehicle 1 is operated in accordance with drivingoperation of the driver, the engine control unit 10 may control anoutput of the engine, to allow actual torque of the engine toapproximate to torque requested by the driver. The torque requested bythe driver may be set on the basis of, for example but not limited to,an operation amount of an accelerator pedal.

In a case of the automatic operation of the vehicle 1, the enginecontrol unit 10 may control the output of the engine, in accordance withan instruction from the automatic operation control unit 50.

The transmission control unit 20 may perform a general control of anundepicted transmission and its auxiliaries. The transmission may changea rotation output of the engine, and make a forward and reversechangeover of the vehicle.

in the case of the automatic operation of the vehicle 1, thetransmission control unit 20 may switch ranges such as forward andreverse movements, and set a gear ratio, in accordance with aninstruction from the automatic operation control unit 50.

As the transmission, various automatic transmissions may be used.Non-limiting examples may include a continuously variable transmission(CVT) of a chain type, a belt type, or a toroidal type, a steppedautomatic transmission (AT) including a plurality of planetary gearsets, a dual clutch transmission (DCT), and an automated manualtransmission (AMT).

The transmission may include, for example but not limited to, a startingdevice and a forward and reverse changeover mechanism, besides atransmission mechanism such as a variator. Non-limiting examples of thestarting device may include a torque converter, a dry clutch, and a wetclutch. The forward and reverse changeover mechanism may make achangeover between a forward traveling range and a reverse travelingrange.

A forward and reverse changeover actuator 21 and a range detectionsensor 22, without limitation, may be coupled to the transmissioncontrol unit 20.

The forward and reverse changeover actuator 21 may drive a forward andreverse changeover valve, to make the forward and reverse changeover ofthe vehicle. The forward and reverse changeover valve may switch oilpaths that supply oil pressure to the forward and reverse changeovermechanism.

The forward and reverse changeover actuator 21 may include, for examplebut not limited to, an electric actuator such as a solenoid.

The range detection sensor 22 may be a sensor or a switch thatdetermines which range is currently selected in the transmission, theforward or the reverse.

The behavior control unit 30 may perform an individual control of awheel cylinder hydraulic pressure of a hydraulic service brake, toperform a behavior control and an antilock brake control. The hydraulicservice brake may be provided for each of front and rear wheels. Thefront wheels may be disposed on right and left sides, and so may be therear wheels. The behavior control may involve restraining vehiclebehavior such as understeering or oversteering. The antilock brakecontrol may involve making a recovery from a wheel lock in braking.

A hydraulic control unit (HCU) 31 and a vehicle speed sensor 32, withoutlimitation, may be coupled to the behavior control unit 30.

The hydraulic control unit 31 may include, for example but not limitedto, an electric pump and a valve. The electric pump may apply pressureto a brake fluid that serves as a working fluid of the hydraulic servicebrake. The valve may make an individual adjustment of the hydraulicpressure supplied to the wheel cylinder of each of the wheels.

In the case of the automatic operation of the vehicle 1, the hydrauliccontrol unit 31 may generate braking power to the wheel cylinder of eachof the wheels, in accordance with a braking instruction from theautomatic operation control unit 50.

The vehicle speed sensor 32 may be provided in a hub of each of thewheels. The vehicle speed sensor 32 may generate a vehicle speed pulsesignal having a frequency proportional to a rotation speed of the wheel.

Detecting the frequency of the vehicle speed pulse signal and performingpredetermined operation processing on the frequency detected makes itpossible to calculate a traveling speed of the vehicle, i.e., a vehiclespeed.

The electric power steering control unit 40 may perform a generalcontrol of an electric power steering device and its auxiliaries. Theelectric power steering device may include an electric motor, andprovide assistance with steering operation of the driver with use of theelectric motor.

A motor 41 and a steering angle sensor 42, without limitation, may becoupled to the electric power steering control unit 40.

The motor 41 may serve as an electric actuator that applies assistingpower to a steering system of the vehicle, to provide the assistancewith the steering operation of the driver, or changes a steering anglein the automatic operation.

In the case of the automatic operation of the vehicle 1, the motor 41may impart, in accordance with a steering instruction from the automaticoperation control unit 50, torque to the steering system, to allow thesteering angle of the steering system to approximate to a predeterminedtarget steering angle. The motor 41 may thereby cause steering to beperformed.

The steering angle sensor 42 may detect a current steering angle in thesteering system of the vehicle.

The steering angle sensor 42 may include, for example but not limitedto, a position encoder that detects an angular position of a steeringshaft.

The automatic operation control unit 50 may output a control instructionto, for example but not limited to, the engine control unit 10, thetransmission control unit 20, the behavior control unit 30, and theelectric power steering control unit 40 as mentioned above, to executethe automatic operation control, in a case in which an automaticoperation mode is selected. The automatic operation control may involveallowing the vehicle to travel automatically.

In one implementation of the technology, the automatic operation controlunit 50 may serve as an “automatic operation control unit”.

The automatic operation control unit 50 may set a target traveling line,upon the selection of the automatic operation mode. The setting of thetarget traveling line may be provided in accordance with, for examplebut not limited to, information on situation around the own vehicle andan instruction from the undepicted driver. The information on thesituation around the own vehicle may be supplied from the environmentrecognition unit 60, The target traveling line may be a traveling linealong which the own vehicle ought to travel. The automatic operationcontrol unit 50 may automatically perform, for example but not limitedto, acceleration or starting of the vehicle, deceleration or stopping ofthe vehicle, the forward and reverse changeover, and the steering. Theautomatic operation control unit 50 may thereby execute the automaticoperation that allows the vehicle to automatically travel to a pre-setdestination.

The automatic operation mode may be stopped, and be able to return to amanual operation mode, in accordance of a predetermined cancel operationfrom the user. The return to the manual operation mode may be carriedout at a desire of the user for manual operation, or alternatively in acase in which continuation of the automatic operation is difficult. Themanual operation mode refers to a mode in which the manual operation bythe driver is performed.

An input and output device 51 may be coupled to the automatic operationcontrol unit 50.

The input and output device 51 may output information such as an alarmand various messages to the user from the automatic operation controlunit 50. The input and output device 51 may also accept an input ofvarious operations from the user.

The input and output device 51 may include, for example but not limitedto, an image display device such as a liquid crystal display (LCD), asound output device such as a speaker, and an operation input devicesuch as a touch panel.

The environment recognition unit 60 may recognize information onsurroundings of the own vehicle, and provide the automatic operationcontrol unit 50 with the information. In one implementation of thetechnology, the environment recognition unit 60 may serve as an“environment recognition unit”.

The environment recognition unit 60 may recognize the obstacle aroundthe own vehicle, and the lane shape of a road on which the own vehicleis traveling, on the basis of information supplied from, for example butnot limited to, the stereo camera control unit 70, the laser scannercontrol unit 80, the rear sideward radar control unit 90, the navigationdevice 100, the road-vehicle communication device 110, and theinter-vehicle communication device 120. Non-limiting examples of theobstacle may include a stopped vehicle, a traveling vehicle, a building,a geographical feature, a pedestrian, and a cyclist.

The stereo camera control unit 70 may control stereo cameras 71. Thestereo cameras 71 may be provided, in a plurality of pairs, around thevehicle. The stereo camera control unit 70 may perform image processingon an image transmitted from the stereo cameras 71.

Each of the stereo cameras 71 may include, without limitation, a pair ofcamera units arranged side by side. The camera units may each include,without limitation, an imaging optical system such as a lens, asolid-state imaging element such as a complementary metal oxidesemiconductor (CMOS) image sensor, a driver circuit, and a signalprocessing device.

The stereo camera control unit 70 may recognize a shape of an objectcaptured by the stereo cameras 71 and a relative position to the ownvehicle of the object, on the basis of a result of the image processingwith utilization of a known stereo image processing technique.

In one specific but non-limiting example, the stereo camera control unit70 may be able to detect lane lines on both sides of the lane forward ofthe own vehicle, and to recognize the lane shape.

The laser scanner control unit 80 may control the laser scanners 81. Thelaser scanner control unit 80 may recognize various objects asthree-dimensional (3D) point group data, on the basis of an output ofthe laser scanners 81. Non-limiting examples of the various objects mayinclude another vehicle and the obstacle around the vehicle 1.

The rear sideward radar control unit 90 may control the rear sidewardradar 91. The rear sideward radar 91 may be provided on right and leftside parts of the vehicle 1. The rear sideward radar control unit 90 maydetect an object that exists rear sideward of the own vehicle, on thebasis of an output of the rear sideward radar 91.

The rear sideward radar 91 may detect, for example, another vehicle thatapproaches from rear sideward of the vehicle 1.

As the rear sideward radar 91, radar such as laser radar andmillimeter-wave radar may be used.

FIG. 2 provides schematic illustration of disposition of the sensorsthat recognize the surroundings of the vehicle 1, in the vehicle 1according to this implementation.

The stereo cameras 71 may be disposed in a front part, a rear part, andthe right and left side parts of the vehicle 1.

The laser scanners 81 may be provided in a plurality, and in adistribution pattern that substantially prevents a dead angle around thevehicle 1.

The rear sideward radar 91 may be disposed on, for example but notlimited to, the right and left side parts of a vehicle body of thevehicle 1, with its detection range directed rearward of the vehicle andoutward in a width direction of the vehicle.

The navigation device 100 may include, for example but not limited to,an own-vehicle positioning unit such as a global positioning system(GPS) receiver, a data accumulation unit, and a gyro sensor. The dataaccumulation unit may accumulate map data prepared in advance. The gyrosensor may detect an azimuth of a front and rear direction of thevehicle 1.

The map data may include road information for each lane. Non-limitingexamples of the road information may include a road, an intersection,and an interchange.

The road information may include not only a three-dimensional data ofthe lane shape but also information on traveling restriction such aspermission or non-permission to make a right turn or a left turn, atemporary stop position, and a speed limit of each lane.

The navigation device 100 may include a display 101. The display 101 maybe incorporated in an instrumental panel.

The display 101 may be an image display device that displays variouspieces of information outputted to the driver by the navigation device100.

The display 101 may include a touch panel, and serve as an input unit onwhich various operation inputs from the driver may be made.

The road-vehicle communication device 110 may communicate with anundepicted around station by a communication system in conformity witha. predetermined standard. The road-vehicle communication device 110 maythereby acquire information regarding, for example but not limited to,traffic congestion, lighting states of traffic signals, roadconstruction, a scene of a traffic accident, lane regulation, weather,and road surface conditions.

The inter-vehicle communication device 120 may communicate with anothervehicle undepicted, by a communication system in conformity with apredetermined standard. The inter-vehicle communication device 120 maythereby acquire information on a vehicle state of another vehicle andinformation on a vehicle attribute of another vehicle. Non-limitingexamples of the information on the vehicle state of another vehicle mayinclude a position, an azimuth angle, acceleration, and a speed ofanother vehicle. Non-limiting examples of the information on the vehicleattribute of another vehicle may include a vehicle model and a vehiclesize of another vehicle.

The image generation unit 200 may generate an environment image, on thebasis of a result of environment recognition transmitted from theenvironment recognition unit 60. The environment image may be an imagethat includes information regarding the environment around the ownvehicle. The environment image may be displayed on the display 210.

In one implementation of the technology, a combination including theimage generation unit 200 and the display 210 may serve as a “vehiclecontrol device”.

The display 210 may be an image display device disposed in confrontedrelation to the occupant of the vehicle 1.

The display 210 may include, for example, a liquid crystal display (LCD)incorporated in an interior member such as the instrumental panel.

Description is given next of image display operation of the vehiclecontrol device according to this implementation, and one example ofimage display.

FIG. 3 is a flowchart of the operation of the vehicle control deviceaccording to this implementation. In the following, description of eachstep is given in the order of a sequence of steps.

[Step S01: Execution of Environment Recognition Process]

The environment recognition unit 60 may perform the environmentrecognition of the surroundings of the vehicle 1, to acquire informationsuch as the lane shape, and a relative speed and a relative distance tothe own vehicle 1 of the obstacle such as another vehicle.

Thereafter, the flow may proceed to step S02,

[Step S02: Setting of Proposed Traveling Line]

The automatic operation control unit 50 may set a proposed travelingline, on the result of the environment recognition in step S01. Theproposed traveling line may be a traveling line that allows the vehicle1 to travel without coming into contact with the obstacle such asanother vehicle, or without coming close to another vehicle with therelative distance of a predetermined value or smaller.

The proposed traveling line may be set in a plurality, depending on theenvironment around the vehicle 1.

The proposed traveling line may include one that involves travelingwhile maintaining a lateral position within the lane in the travelinglane of the vehicle 1. Besides, the proposed traveling line may includeone that involves making a lane change, one that involves a junction ora branch, one that involves making, without limitation, the right turnor the left turn at the intersection, and one that involves shifting thelateral position within the lane in the traveling lane of the vehicle 1,in order to avoid passing of a large-sized vehicle traveling on anadjacent lane or to avoid the obstacle.

Thereafter, the flow may proceed to step S03.

[Step S03: Selection of Target Traveling Line]

When the proposed traveling line set in step S02 is in a singularity,the automatic operation control unit 50 may set the relevant proposedtraveling line as the target traveling line, and execute the automaticoperation control.

When the proposed traveling line set in step S02 is in the plurality,the automatic operation control unit 50 may determine relative merits ofthe plurality of proposed traveling lines, on the basis of estimation ofpotential for, without limitation, contact with another vehicle or theobstacle, and/or factors such as involvement or non-involvement ofsudden acceleration, sudden braking, or sudden steering.

The automatic operation control unit 50 may set, as the target travelingline, the proposed traveling line determined as being an optimum, andexecute the automatic operation control.

Thereafter, the flow may proceed to step S04.

[Step S04: Image Generation of Surrounding Environment and TargetTraveling Line]

The image generation unit 200 may acquire, from the environmentrecognition unit 60, the information on the environment around the ownvehicle. The image generation unit 200 may also acquire, from theautomatic operation control unit 50, the information on the targettraveling line selected in step S03.

The image generation unit 200 may generate, on the basis of theinformation acquired, an image of, for example but not limited to, aroad shape, the lane shape, and distribution of other vehicles aroundthe vehicle 1. The image generation unit 200 may also superimpose theimage of the target traveling line on the image generated.

Thereafter, the flow may proceed to step S05.

[Step S05: Determination on Presence or Absence of Non-selectedTraveling Line]

The image generation unit 200 may determine presence or absence of anon-selected traveling line, i.e., a proposed but non-selected travelingline, on the basis of information supplied from the automatic operationcontrol unit 50.

In a case of the presence of the non-selected traveling line (Y in stepS05), the flow may proceed to step S06. Otherwise (N in step S05), theflow may proceed to step S08.

[Step S06: Image Generation of Non-selected Traveling Line]

The image generation unit 200 may generate an image of the non-selectedtraveling line, and superimpose the image of the non-selected travelingline on the image generated in step S04 of the surrounding environmentand the target traveling line.

Here, the image of the non-selected traveling line may have differentsetting of display modes from that of the image of the target travelingline. Non-limiting examples of the display modes may include a color,luminance, transparency, and a shape.

Thereafter, the flow may proceed to step S07.

[Step S07: Image Generation of Reason for Non-selection]

The image generation unit 200 may generate, in the vicinity of the imageof the non-selected traveling line, display of a reason for thenon-selection of the non-selected traveling line.

The display may be provided, for example, solely in pattern display suchas an icon, or alternatively, the display may be provided solely incharacter display. In another alternative, the display may include boththe pattern display and the character display.

Thereafter, the ay proceed to step S08.

[Step S08: Output of Image Display]

The image generation unit 200 may output the image generated in theseries of processing, and allow the display 210 to display the image andto provide the user with the image.

Thereafter, the series of processing may be ended.

FIG. 4 illustrates one example of the image display provided on thevehicle control device according to this implementation.

In one specific but non-limiting example, FIG. 4 illustrates a state oftraveling on a highway for left-side traffic that includes three laneson each side. The term “highway” refers to a high-grade expressway.

The image display may include the lane shape, or a lane line shape,recognized by the environment recognition unit 60.

In FIG. 4, depicted are a left traveling lane LL, a right traveling laneLR, and a passing lane LP, in the order named from the left.

The lanes may be divided by the lane lines that extend along lane edges.

In the example illustrated in FIG. 4, the vehicle 1 may be traveling onthe right traveling LR disposed in the middle of the three lanes.

A passenger car PCI may be traveling forward of the vehicle 1, on theright traveling lane LR.

A passenger car PC2 may be traveling sideward of the vehicle 1, on theleft traveling lane LL.

A passenger car PC3 may be traveling obliquely forward of the vehicle 1,on the passing lane LP.

In FIG. 4, displayed are the target traveling line Lt and a non-selectedtraveling line Ln.

The target traveling line IA may be set so as to allow the vehicle 1 tomake the lane change from the right traveling lane LR to the lefttraveling lane LL, to make entry forward of the passenger car PC2, andthereafter, to pass the passenger car PC1.

The automatic operation control unit 50 may perform the automaticoperation control so as to allow an actual traveling locus of thevehicle 1 to approximate to the target traveling line Lt.

Meanwhile, the non-selected traveling line Ln may be set so as to allowthe vehicle 1 to make the lane change from the right traveling lane LRto the passing lane LP, to make the entry forward of the passenger carPC3, and thereafter, to pass the passenger car PC1.

However, if the non-selected traveling line Ln were selected, aninter-vehicle distance between the own vehicle 1 and the subsequentpassenger car PC3 would be smaller than a predetermined allowable limitimmediately after the lane change. This would cause possibility of beingcollided from behind. This is a reason why the automatic operationcontrol unit 50 has decided the non-selection of the non-selectedtraveling line Ln in step S03.

The target traveling line Lt and the non-selected traveling line Ln maybe displayed with, for example but not limited to, respectivearrow-pointed lines, as illustrated in FIG. 4.

Note that the target traveling line Lt and the non-selected travelingline Ln may both be set straightforward halfway on the right travelingline LR, but the target traveling line Lt and the display of thenon-selected traveling line Ln may be displayed in parallel relation foran easier understanding, instead of in overlapped relation.

Moreover, in a preferable but non-limiting example, in a case of theparallel display, an order of the display in the vehicle width directionmay be set so as to avoid an intersection of the display of the targettraveling line Lt and the display of the non-selected traveling line Ln.

For example, in the example illustrated in FIG. 4, the display of theparallel-disposed part may be provided, with the target traveling lineLt disposed on the left side of the non-selected traveling line Ln.

There may be further provided an indication 1 adjacently to thenon-selected traveling line Ln. The indication I may indicate a reasonof the non-selection. In the example illustrated in FIG. 4, theindication 1 may indicate the possibility of being collided because ofthe small inter-vehicle distance between the vehicle 1 and thesubsequent passenger car PC3 on the lane to which the vehicle 1 has madethe lane change.

The indication I may be provided, for example, solely in the patterndisplay, or an icon as illustrated in FIG. 4, or alternatively, theindication I may be provided solely in the character display. In anotheralternative, the indication I may include both the pattern display andthe character display.

Note that in some cases, a subsequent change in the environment aroundthe vehicle 1 may cause re-setting of the non-selected traveling line Lnas the new target traveling line Lt. Non-limiting examples of such achange may include deceleration of the passenger car PC3, and the lanechange of the passenger car PC3 to make the entry behind the vehicle 1.

In this case, on the display screen as well, the display of the targettraveling line Lt and the display of the non-selected traveling line Lnmay be switched.

In one alternative case, a different change in the environment from thecase as mentioned above may cause an appreciable diminution orelimination of possibility of the re-setting of the non-selectedtraveling line Ln as the target traveling line Lt in the future. Inother words, there may be a case in which the non-selected travelingline Ln has little or no possibility of being traveled. In this case,the display of the non-selected traveling line Ln may be non-displayed,or stopped.

Effects of this implementation as described above may be as follows.

(A) The display of the non-selected traveling line Ln, i.e., theproposed but non-selected traveling line may be provided, together withthe display of the target traveling line Lt. Hence, it is possible toalleviate or eliminate the user's feeling of distrust of the setting ofthe target traveling line provided by the automatic operation control.This is because it becomes clear that the current target traveling linehas been selected from the proposed traveling lines including thetraveling line assumed by the user, on a condition that the travelingline assumed by the user coincides with the non-selected traveling line,even if the traveling line assumed by the user is different from thetarget traveling line Lt set on the vehicle side.

(B) The reason for the non-selection of the non-selected traveling lineLn may be provided with the icon or the characters. Hence, it ispossible to give the user an easier understanding of the validity of thesetting of the target traveling line Lt.

(C) The display of the non-selected traveling line Ln having little orno possibility of being actually traveled may be non-displayed. Thismakes it possible to allow the user to recognize that the non-selectedtraveling line Ln has little or no possibility of the re-setting as thenew target traveling line in accordance with the change in theenvironment around the own vehicle. Hence, it is possible to give theuser an understanding of a scenario of the automatic operation controlgenerated on the vehicle side.

[Modifications]

The technology is by no means limited to the implementations describedabove. It should be appreciated that modifications and alterations maybe made, and the technology is intended to include such modificationsand alterations.

(A) The configurations of the vehicle control device or theconfigurations of the vehicle are not limited to the implementationsdescribed above, but may be modified or altered as appropriate. In theforgoing implementations, the vehicle may be a passenger car, but thetechnology may be also applicable to a commercial vehicle such as acargo vehicle, a truck, a bus, a motorcycle, and other various specialvehicles.

(B) In the forgoing implementations, the vehicle may utilize the engineas the traveling power source. However, the technology is not limitedthereto. The vehicle may utilize, as the traveling power source, anelectric motor or a hybrid system as a combination of the engine and theelectric motor.

(C) The kinds or the disposition of the sensors that perform theenvironment recognition around the own vehicle are not limited to asexemplified in the forgoing implementations, but may be modified oraltered as appropriate. For example, various sensors may be utilizedtogether with, or may be replaced with, the sensors as exemplified inthe forgoing implementations. Non-limiting examples of the sensors mayinclude the millimeter-wave radar, the laser radar, a monocular camera,and ultrasonic sonar.

(D) In the forgoing implementations, the example of the image displaymay be provided in an overhead view or a bird's eye view, but this isnon-limiting. In one alternative example, the image display may beprovided in a plan view, or in a driver's view as viewed from aviewpoint of a virtual driver. In another alternative, a 3D display maybe provided with use of a display that is able to provide 3D display.Moreover, in the forgoing implementations, the image display may beprovided on the display incorporated in the instrumental panel, but thisis non-limiting. In one alternative example, the image display may beprovided with a head up display that projects an image on a windscreen.

(E) The techniques of the selection of the target traveling line fromthe plurality of proposed traveling lines are not limited to theconfigurations of the forgoing implementations, but may be modified oraltered as appropriate.

In one implementation described above, the image generation unit 200illustrated in FIG. 1 may be implemented by circuitry including at leastone semiconductor integrated circuit such as at least one processor(e.g., a central processing unit (CPU)), at least one applicationspecific integrated circuit (ASIC), and/or at least one fieldprogrammable gate array (FPGA). At least one processor can beconfigured, by reading instructions from at least one machine readabletangible medium, to perform all or a part of functions of the imagegeneration unit 200. Such a medium may take many forms, including, butnot limited to, any type of magnetic medium such as a hard disk, anytype of optical medium such as a compact disc (CD) and a digital videodisc (DVD), any type of semiconductor memory (i.e., semiconductorcircuit) such as a volatile memory and a non-volatile memory. Thevolatile memory may include a dynamic random access memory (DRAM) and astatic random access memory (SRAM), and the non-volatile memory mayinclude a ROM and a non-volatile RAM (NVRAM). The ASIC is an integratedcircuit (IC) customized to perform, and the FPGA is an integratedcircuit designed to be configured after manufacturing in order toperform, all or a part of the functions of the units illustrated in FIG.1.

Although some preferred implementations of the technology have beendescribed in the foregoing by way of example with reference to theaccompanying drawings, the technology is by no means limited to theimplementations described above. It should be appreciated thatmodifications and alterations may be made by persons skilled in the artwithout departing from the scope as defined by the appended claims. Thetechnology is intended to include such modifications and alterations inso far as they fall within the scope of the appended claims or theequivalents thereof.

1. A vehicle control device configured to be mounted on a vehicle thatincludes an environment recognition unit and an automatic operationcontrol unit, the environment recognition unit being configured toacquire information on surrounding environment around the vehicle, andproviding the automatic operation control unit with the information onthe surrounding environment, the automatic operation control unit beingconfigured to select one proposed traveling line, as a target travelingline of the vehicle, from a plurality of proposed traveling lines, on abasis of the information on the surrounding environment, and allow thevehicle to travel along the target traveling line, and the vehiclecontrol device being configured to provide display of an image of one ormore non-selected traveling lines other than the proposed traveling lineselected as the target traveling line from the plurality of proposedtraveling lines, together with display of an image of the targettraveling line.
 2. The vehicle control device according to claim 1,wherein the vehicle control device provides display of information on areason for non-selection of the non-selected traveling line.
 3. Thevehicle control device according to claim 1, wherein the automaticoperation control unit has a function of selecting one non-selectedtraveling line as a new target traveling line from the one or morenon-selected traveling lines, in accordance with a change in theinformation on the surrounding environment, and the vehicle controldevice stops providing the display of the image of any non-selectedtraveling line of the one or more non-selected traveling lines, upondiminution of possibility that the relevant non-selected traveling lineis selected as the ne target traveling line.
 4. The vehicle controldevice according to claim 2, wherein the automatic operation controlunit has a function of selecting one non-selected traveling line as anew target traveling line from the one or more non-selected travelinglines, in accordance with a change in the information on the surroundingenvironment, and the vehicle control device stops providing the displayof the image of any non-selected traveling line of the one or morenon-selected traveling lines, upon diminution of possibility that therelevant non-selected traveling line is selected as the new targettraveling line.
 5. A vehicle, comprising an environment recognitionunit, an automatic operation control unit, and a vehicle control device,the environment recognition unit being configured to acquire informationon surrounding environment around the vehicle, and providing theautomatic operation control unit with the information on the surroundingenvironment, the automatic operation control unit being configured toselect one proposed traveling line, as a target traveling line of thevehicle, from a plurality of proposed traveling lines, on a basis of theinformation on the surrounding environment, and allow the vehicle totravel along the target traveling line, and the vehicle control devicebeing configured to provide display of an image of one or morenon-selected traveling lines other than the proposed traveling lineselected as the target traveling line from the plurality of proposedtraveling lines, together with display of an image of the targettraveling line.